CN112185149B - Path planning method and system based on urban road network data - Google Patents
Path planning method and system based on urban road network data Download PDFInfo
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- CN112185149B CN112185149B CN202010966466.2A CN202010966466A CN112185149B CN 112185149 B CN112185149 B CN 112185149B CN 202010966466 A CN202010966466 A CN 202010966466A CN 112185149 B CN112185149 B CN 112185149B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
Abstract
The invention belongs to a traffic path planning technology in the technical field of communication, and particularly relates to a path planning method and system based on urban road network data. The method comprises the following steps: determining a path planning area according to the urban road network data; performing active pruning operation on road data corresponding to the path planning area to obtain a road data set; according to a preset intersection grading rule, each intersection in the road data set is divided into priority levels; and selecting intersection data in the road data set step by step according to the sequence of the priority levels from high to low, performing shortest path planning calculation, and supplementing intersection data at lower levels for recalculation until the shortest path is planned if a path cannot be planned by means of the currently selected intersection data. The invention reduces the calculation cost in the path planning process, can finally plan the most convenient and least easy-to-lose path by selecting the simple algorithm of the piecewise diffusion, and is very suitable for providing driving guidance for the rapid passing of the rescue vehicle.
Description
Technical Field
The invention belongs to a traffic path planning technology in the technical field of communication, and particularly relates to a path planning method and system based on urban road network data.
Background
The path planning is to plan a moving path meeting constraint conditions according to actual requirements, and has wide application in various fields, such as autonomous robot collision avoidance and movement, unmanned aerial vehicle obstacle avoidance and penetration prevention flight, GPS navigation, urban road planning, vehicle configuration in logistics management and the like. Therefore, on the premise of meeting all constraint conditions, the method for planning the path under the optimal indexes (time, distance, energy consumption and the like) has important theoretical value and practical significance.
In the existing path planning, a minimum route is usually planned by a high-computing-performance cloud server of a navigation company based on exhaustive computing in a whole map, and a computing algorithm is usually based on an a-star algorithm. The A star algorithm takes 8 fixed neighborhoods of the current position point as the next expansion neighborhood, and the calculation amount is very large. Therefore, the path planning method in the prior art is high in calculation cost and slow in response speed, and a plurality of narrow road sections are possibly included in the calculation result, so that congestion or getting lost is easy.
For the rescue vehicles, under the condition that the road surface is wide or an emergency special road exists, the ordinary vehicles can ensure the rapid passing of the rescue vehicles in an avoidance mode, so that the short running path and the high grade crossing are most important for the rapid passing of the rescue vehicles. The existing path planning method is complex in algorithm due to the fact that the adopted road network data volume is large (including a large number of narrow roads), switching rules are often set according to traffic flow data of the roads, the calculation process of the system is slow, and the planned driving path is probably not suitable for quick passing of rescue vehicles.
Disclosure of Invention
The invention aims to provide a method and a system for planning a path based on urban road network data, which are suitable for rescue vehicles to pass through quickly, aiming at the defects in the prior art, and the method and the system can be used for effectively guiding the driving of the rescue vehicles by reasonably planning areas, simplifying data and optimizing intersections, reducing the calculated amount of path planning and improving the average trafficability of the intersections.
The invention provides a path planning method based on urban road network data and suitable for quick passing of rescue vehicles.
The path planning method based on the urban road network data comprises the following steps: determining a path planning area according to the urban road network data; performing active pruning operation on road data corresponding to the path planning area to obtain a road data set; according to a preset intersection grading rule, each intersection in the road data set is graded into a priority level; and selecting intersection data in the road data set step by step according to the sequence of the priority levels from high to low, performing shortest path planning calculation, and supplementing intersection data at lower levels for recalculation until the shortest path is planned if a path cannot be planned by means of the currently selected intersection data.
Further, grid coordinates P1 (X) with a start point in the urban road network data1，Y1) And grid coordinate P2 (X) of the end point2，Y2) Determining for a reference a path planning region, the grid coordinate data (X, Y) of points within the path planning region being such that:
Min{X1,X2}-c*|X1-X2|≤X≤Max{X1,X2}+c*|X1-X2|
Min{Y1,Y2}-c*|Y1-Y2|≤Y≤Max{Y1,Y2}+c*|Y1-Y2|
wherein c is an expansion coefficient and has a value range of 0.35-0.5.
Further, still include: and performing passive pruning operation in the shortest path planning calculation process.
Further, the preset intersection grading rule comprises: if the number of fast passing lanes connected at the intersection is more, the priority level of the intersection is higher; and if the ratio of the total number of all the motor vehicle lanes corresponding to the intersection to the number of the branches at the intersection is larger, the priority level of the intersection is higher.
Further, the step of performing shortest path planning calculation includes:
calculating by adopting a section-by-section diffusion mode, wherein the calculation process of each section is as follows:
determining a current starting point A and a current end point B, wherein the whole-process starting point of the first planning process is the current starting point A, the crossing which passes through the previous planning result in each subsequent planning process is selected as the current starting point A, and the whole-process end point is always used as the current end point B;
taking a plurality of intersections adjacent to the current starting point A as current candidate intermediate points, and marking as M iI represents the number of candidate intermediate points;
for each current candidate intermediate point MiCalculating (| AM)i|+|MiB |), wherein | AMiI represents the current starting point A to the candidate intermediate point MiOf Euclidean distance, | MiB | represents a candidate intermediate point MiThe Euclidean distance from the current terminal point B, and then the candidate intermediate point M corresponding to the minimum calculation result is selectediAs a passing intersection.
The invention provides a path planning system based on urban road network data, which is suitable for rescue vehicles to pass through quickly.
The route planning system based on the urban road network data of the embodiment of the invention comprises:
the route planning region determining module is used for determining a route planning region according to the urban road network data;
the road data pruning module is used for actively pruning the road data corresponding to the path planning area to obtain a road data set;
the intersection data screening module is used for dividing each intersection in the road data set into priority levels according to a preset intersection grading rule;
and the shortest path calculation module is used for selecting the intersection data in the road data set step by step according to the sequence of the priority levels from high to low, performing shortest path planning calculation, and supplementing the intersection data at the lower level for recalculation until the shortest path is planned if the path cannot be planned by means of the currently selected intersection data.
Further, the path planning region determining module determines grid coordinates P1 (X) of the starting point in the urban road network data1，Y1) And grid coordinates of end point P2 (X)2，Y2) Determining for a reference a path planning region, the grid coordinate data (X, Y) of points within the path planning region being such that:
Min{X1,X2}-c*|X1-X2|≤X≤Max{X1,X2}+c*|X1-X2|
Min{Y1,Y2}-c*|Y1-Y2|≤Y≤Max{Y1,Y2}+c*|Y1-Y2|
wherein c is an expansion coefficient and has a value range of 0.35-0.5.
Further, the shortest path calculation module is further configured to perform a passive pruning operation during the shortest path planning calculation process.
Further, the preset intersection classification rule adopted by the intersection data screening module comprises:
if the number of fast passing lanes connected at the intersection is more, the priority level of the intersection is higher;
and if the ratio of the total number of all the motor vehicle lanes corresponding to the intersection to the number of the branches at the intersection is larger, the priority level of the intersection is higher.
Further, the shortest path calculation module performing shortest path planning calculation includes:
the shortest path planning calculation is carried out by adopting a section-by-section diffusion mode, and the calculation process of each section is as follows:
determining a current starting point A and a current end point B, wherein the whole-process starting point of the first planning process is the current starting point A, the crossing which passes through the previous planning result in each subsequent planning process is selected as the current starting point A, and the whole-process end point is always used as the current end point B;
Taking a plurality of intersections close to the current starting point A as current candidate intermediate points, and marking as MiI represents the number of candidate intermediate points;
for each current candidate intermediate point MiCalculating (| AM)i|+|MiB |), wherein | AMiI represents the current starting point A to the candidate intermediate point MiOf Euclidean distance, | MiB | represents a candidate intermediate point MiThe Euclidean distance from the current terminal point B, and then the candidate intermediate point M corresponding to the minimum calculation result is selectediAs a passing intersection.
The urban road network data-based path planning method and system provided by the invention have the advantages that the calculation cost in the path planning process is reduced and the average trafficability of the intersection is improved by reasonably limiting the path planning area, pruning the road data in the area and optimizing the high-level intersection, and the most convenient and least-lost path can be planned finally by selecting the simple algorithm diffused section by section to guide the driving of the rescue vehicle. The path planning method combines the actual characteristics of urban roads and is very suitable for providing auxiliary support for quick passing of rescue vehicles.
Drawings
Fig. 1 is a flowchart of a path planning method based on urban road network data according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a path planning system based on urban road network data according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first embodiment of the present invention illustrating a first embodiment of a first path planning area from a building to a hospital;
FIG. 4 is a diagram illustrating a first segment planning process in a shortest path segment-by-segment diffusion calculation method according to a first embodiment of the present invention;
FIG. 5 is a diagram illustrating a planning process for each segment in a shortest path segment-by-segment diffusion calculation method according to a first embodiment of the present invention;
FIG. 6 is a diagram illustrating a planned shortest path according to the first embodiment of the present invention;
FIG. 7 is a diagram illustrating a path planning area selection and each segment planning process according to a second embodiment of the present invention;
fig. 8 is a schematic diagram of a planned shortest path in the second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and examples. The specific embodiments described herein are only for explaining the present invention and are not intended to limit the technical aspects of the present invention.
The invention discloses a path planning method and system based on urban road network data, which are mainly provided aiming at the driving characteristics of rescue vehicles in cities, and the traffic safety regulations of China stipulate that the rescue vehicles can not be limited by driving routes, driving directions, driving speeds and signal lamps on the premise of ensuring safety, and other vehicles and pedestrians should give way. Therefore, a short travel path and a high intersection level are most important for quick passage of the rescue vehicle.
When planning a vehicle driving path, firstly, intersection and place information in urban road network data needs to be subjected to rasterization coding processing, mainly in order to identify the position of the intersection, GPS coordinate information of the intersection position can be simply subjected to matrix trellis coding to simulate a road network matrix in the city, and the coding mode can be represented by using GPS longitude and latitude or the longitude and latitude multiplied by a certain coefficient.
Fig. 1 is a flowchart of a path planning method based on urban road network data according to an embodiment of the present invention, including the following steps:
determining a path planning area, and selecting and determining the path planning area in the urban road network data by taking the grid coordinates of the starting point and the grid coordinates of the end point as the reference;
pruning the road data, namely performing pruning operation on the road data according to the determined path planning area to obtain a road data set;
screening intersection data, namely dividing priority levels of all intersections in the road data set according to a preset intersection classification rule;
and calculating the shortest path, namely selecting intersection data in the road data set step by step according to the sequence of the priority levels from high to low, planning and calculating the shortest path, and supplementing intersection data at lower levels for recalculation until the shortest path is planned if the path cannot be planned by means of the currently selected intersection data.
Optionally, in the method for planning a path based on urban road network data according to the embodiment of the present invention, when determining a path planning region, the region selected based on the grid coordinates of the start point and the grid coordinates of the end point may be a rectangular region with the start point and the end point as diagonal vertices, and the region may be appropriately extended, where the extension process is to extend the grid coordinates of the region boundary points in the longitude and latitude direction by a certain rule, for example, the distance between the coordinate points may be multiplied by a certain coefficient as a reference basis for extension. The coefficient should be adjusted according to the sparsity of the urban road network, and the coefficient is empirically considered to be between 0.35 and 0.5.
Specifically, the grid coordinate P1 (X) of the start point is used in the urban road network data system1，Y1) And grid coordinates of end point P2 (X)2，Y2) Determining for a reference a path planning region, the grid coordinate data (X, Y) of points within the path planning region being such that:
Min{X1,X2}-c*|X1-X2|≤X≤Max{X1,X2}+c*|X1-X2| (1)
Min{Y1,Y2}-c*|Y1-Y2|≤Y≤Max{Y1,Y2}+c*|Y1-Y2| (2)
wherein c is an expansion coefficient and has a value range of 0.35-0.5. The road information in the possible area with the coefficient c less than 0.35 is too little to plan a valid path to reach the end point. If the coefficient c is greater than 0.5, a distant road is included, which means that the vehicle needs to travel on a distance beyond half of the distance between two points, but the rescue vehicle does not consider going around the distant road during actual travel, and if the coefficient c is too large, the calculation amount is increased, so that the method has no practical significance.
Optionally, in the method for planning a path based on urban road network data according to the embodiment of the present invention, the pruning of road data includes active pruning and passive pruning. When the path planning calculation is carried out, if all the road intersections of one city participate in the calculation, many unnecessary expenses on resources and performance are caused, the network pressure is large, and the calculation process is slow. Therefore, the best way is to perform data pruning, which means that some unnecessary traversal processes are avoided by judgment, and the road data remained after the pruning operation forms a road data set for path planning.
The active pruning is to directly prune the part beyond the path planning area without acquiring related data, so that a large amount of calculation cost can be saved. And in the passive pruning, whether a new calculation node deviates from an actual route or not is judged according to a calculation distance formula in the calculation process, a planned area range is controlled, and once the obtained intersection node coordinates exceed the path planning area range, the extended calculation of the node is stopped, and the pruning operation is carried out.
Optionally, in the path planning method based on urban road network data according to the embodiment of the present invention, when dividing the priority level of an intersection, the preset intersection classification rule includes:
If the number of fast passing lanes connected to the intersection is more, the priority level of the intersection is higher;
if the ratio of the total number of all motor vehicle lanes corresponding to the intersection to the number of branches at the intersection is larger, the priority level of the intersection is higher.
And assigning the grade factors representing the two factors in a mode of configuring a grade function, wherein the higher the calculation result of the grade function is, the higher the intersection priority level is.
As a specific implementation, the rank function can be represented as follows:
Level＝L1×L2 (3)
where L1 denotes a first ranking factor. The intersection connected with special emergency lanes, special bus lanes and other special express lanes has the value of L1 being 2; and L1 takes the value of 1 at the intersection which is not connected with the special express way. L2 denotes a second level factor. Counting the total number of all motor vehicle lanes corresponding to the intersection/the number of branches at the intersection (for example, the number of a T-shaped intersection is 3, and the number of an intersection is 4), and if the value is greater than a preset threshold value, taking the value of L2 as 2; if the value is less than the predetermined threshold, L2 takes the value 1.
Through the calculation of the formula (3), the higher the Level value is, the higher the priority of the intersection is.
The level function can not be limited to the form of the formula (3), and other flexible design schemes can also be provided, in short, the priority degree of the intersection is marked as a plurality of discrete numerical values through assignment calculation, so that intersection data can be selectively called when a path is planned later.
Optionally, in the method for path planning based on city road network data according to the embodiment of the present invention, when the shortest path is calculated, only the intersection data with the highest level is screened at the beginning, and other intersection data are not called for a while. If the path can not be planned only by the highest-level intersection, the data of the next-level intersection is supplemented in sequence and then the path is planned again. That is, the main road intersection which is not easy to get lost is preferentially selected in the calculation process, and if the main road intersection which exceeds the range or is not close to the main road intersection which meets the requirement, the secondary road intersection is used for participating in the calculation.
As a specific implementation manner, the step of performing shortest path planning calculation includes:
calculating by adopting a section-by-section diffusion mode, wherein the calculation process of each section is as follows:
determining a current starting point A and a current end point B, wherein the whole-process starting point of the first planning process is the current starting point A, the crossing which passes through the previous planning result in each subsequent planning process is selected as the current starting point A, and the whole-process end point is always used as the current end point B;
taking a plurality of intersections adjacent to the current starting point A as current candidate intermediate points, and marking as MiI represents the number of candidate intermediate points;
for each current candidate intermediate point M iCalculating (| AM)i|+|MiB |), wherein | AMiI represents the current starting point A to the candidate intermediate point MiEuropean distance, | MiB | represents a candidate intermediate point MiThe Euclidean distance from the current terminal point B, and then the candidate intermediate point M corresponding to the minimum calculation result is selectediAs a passing intersection.
And repeating the process, and determining intersections needing to pass section by section until finding adjacent intersections which can reach the end point directly.
As an optional implementation means, the above shortest path calculation method may be implemented by using Pregel tool of google. The Pregel algorithm is a new generation graph calculation engine derived from Google and is used for distributed graph calculation and SSSP single-source shortest path calculation. The core of the Pregel algorithm is to convert the calculation into a directed graph, each node executes the same function, and the calculation execution condition is judged according to the execution state of the node. A node is awakened while participating in the computation until the computation is finished without any node participating in the computation.
Fig. 2 is a schematic diagram of a path planning system based on urban road network data according to an embodiment of the present invention, including: the route planning region determining module is used for selecting and determining a route planning region in the urban road network data by taking the grid coordinates of the starting point and the grid coordinates of the end point as the reference; the road data pruning module is used for carrying out pruning operation on road data according to the determined path planning area to obtain a road data set; the intersection data screening module is used for dividing each intersection in the road data set into priority levels according to a preset intersection grading rule; and the shortest path calculation module is used for selecting the intersection data in the road data set step by step according to the sequence of the priority levels from high to low, performing shortest path planning calculation, and supplementing the intersection data at the lower level for recalculation until the shortest path is planned if the path cannot be planned by means of the currently selected intersection data.
Optionally, in the urban road network data-based path planning system according to the embodiment of the present invention, the path planning region determining module uses grid coordinates P1 (X) of the starting point1，Y1) And grid coordinates of end point P2 (X)2，Y2) Determining a path planning area for reference, wherein the grid coordinate data (X, Y) of points in the path planning area should satisfy the formula (1) and the formula (2).
Optionally, in the route planning system based on the urban road network data according to the embodiment of the present invention, the road data pruning module may directly delete the part beyond the route planning area without acquiring the related data; the shortest path calculation module can also perform passive pruning operation in the shortest path planning calculation process, namely stopping the expansion calculation of the node once the acquired intersection node coordinate exceeds the path planning area.
Optionally, in the route planning system based on the urban road network data according to the embodiment of the present invention, a level function is configured in the intersection data screening module, and level factors in the level function represent the following two factors, respectively: 1. the number of fast passing lanes connected at the intersection, 2, the ratio of the total number of all motor lanes corresponding to the intersection to the number of branches at the intersection; by assigning the grade factor, the higher the calculation result of the grade function is, the higher the intersection priority level is. As a specific implementation, the ranking function and ranking factor may be chosen according to equation (3) above, but are not limited to the form of equation (3).
Optionally, in the route planning system based on the urban road network data according to the embodiment of the present invention, the shortest path calculation module performs shortest path calculation in a segment-by-segment diffusion manner, and a calculation process of each segment includes: determining a current starting point A and a current end point B, wherein the starting point of the whole process of the first planning process is the current starting point A, and the crossing which passes through the previous planning result in each subsequent planning process is selected as the current starting point AThe current starting point A always takes the whole-course end point as the current end point B; taking a plurality of intersections adjacent to the current starting point A as current candidate intermediate points, and marking as MiI represents the number of candidate intermediate points; for each current candidate intermediate point MiCalculating (| AM)i|+|MiB |), wherein | AMiI represents the current starting point A to the candidate intermediate point MiOf Euclidean distance, | MiB | represents a candidate intermediate point MiThe Euclidean distance from the current terminal point B, and then the candidate intermediate point M corresponding to the minimum calculation result is selectediAs a passing intersection.
For better understanding of those skilled in the art, a specific embodiment of the method for planning a path based on urban road network data according to the present invention is described in detail below.
Firstly, determining a path planning area
As shown in fig. 3, this embodiment requires planning an optimal path for the ambulance to pass through from a building (the global start point) to the hospital (the global end point). The method comprises the steps of firstly determining a path planning area, selecting a rectangular area by taking a grid coordinate of a starting point (a certain building) and a grid coordinate of a terminal point (a hospital) as a reference, then expanding the area, reasonably determining an expansion coefficient c according to conditions by using expansion formulas shown as a formula (1) and a formula (2), wherein a gray area in a graph 3 is the path planning area with the expansion coefficient c being 0.5.
Second, road data pruning
After the path planning area is determined, more other intersections contained in the geographic space outside the gray area in fig. 3 are actively pruned, do not participate in calculation, and do not extract related grid data, so that unnecessary expenses on resources and performance are reduced, and the calculation speed is increased.
Thirdly, screening intersection data
In the gray area, the main intersections A-P and intersections of narrow paths are included. The method comprises the following steps of carrying out intersection priority level division in a mode of configuring a level function, wherein the considered factors comprise: (1) the number of connected special express lanes, (2) the ratio of the total number of all motor lanes corresponding to the intersection to the number of intersection branches; and assigning a value to the grade factors representing the two factors, wherein the higher the calculation result of the grade function is, the higher the intersection priority level is. The ranking function can be seen in equation (3), but is not limited to the form of equation (3). After the intersection priority level is determined, raster data of the main intersections A-P are extracted. Data of narrow intersections of low levels can be further ignored, and therefore data resources are better optimized.
Four, shortest path computation
The shortest path calculation is carried out in a section-by-section diffusion mode, and the intersection which is adjacent to the current intersection and is closest to the end point is selected for diffusion. The concrete method is that a plurality of intersections close to the current starting point A are taken as current candidate intermediate points and are marked as M iFor each current candidate intermediate point MiCalculating (| AM)i|+|MiB |), and then selecting the candidate intermediate point M corresponding to the minimum calculation resultiAs a passing intersection, | AMiI represents the current starting point A to the candidate intermediate point MiEuropean distance, | MiB | represents a candidate intermediate point MiEuclidean distance to the current end point B.
As shown in fig. 4, the diffusion calculation is performed from the intersection O closest to the building to the adjacent N, L, P intersection.
The result of the first calculation is that the white solid line is the cost of the distance traveled from the starting point intersection O to each intersection N, L, P, the dotted line shows the simulation of the straight distance from N, L, P three intersections to the end point, and the distances of the solid line and the dotted line are added to calculate the intersection closest to the destination as the L-point intersection.
The second calculation is spread from the L-point intersection, which intersection is the closest intersection in J, K, H, M intersections is judged, and finally the intersection H is selected as the closest intersection.
And performing third calculation, diffusing F, G, E, I intersections from the intersection H, judging the intersection closest to the terminal point, and selecting the intersection E.
And performing fourth calculation, and calculating the distance from the E intersection to the end point through the B, D intersection, wherein the distance from the B, D intersection to the end point greatly exceeds the distance from the E intersection to the end point directly, so that the E intersection is finally selected as the end point intersection. The above diffusion process from segment to segment is shown in fig. 5.
The selected intersections are connected in series, and the route olee is the shortest route, as shown in fig. 6.
This embodiment is a relatively simple example, and figures 7 and 8 of the present invention further illustrate a more complex embodiment for planning an optimal path for an ambulance to traverse from a school (the start of the course) to a hospital (the end of the course). The method is completely the same as that described in the above embodiment, the path planning region is determined according to the expansion coefficient c being 0.35, other intersections contained in the geographic space outside the region are actively pruned, and the priority level is assigned to each intersection in the region. The resulting path is shown in fig. 8.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. Thus, if such modifications, uses, or adaptations of the present invention are within the scope of the claims and their equivalents, it is intended that the present invention encompass such modifications and adaptations of the use.
The above-described embodiments are merely illustrative of the present invention, and the present invention may be embodied in other specific forms or other specific forms without departing from the spirit or essential characteristics thereof. The described embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. The scope of the invention should be indicated by the appended claims, and any changes that are equivalent to the intent and scope of the claims should be construed to be included therein.
Claims (6)
1. The path planning method based on the urban road network data is characterized by comprising the following steps:
determining a path planning area according to the urban road network data;
performing active pruning operation on road data corresponding to the path planning area to obtain a road data set;
according to a preset intersection grading rule, each intersection in the road data set is graded into a priority level; the preset intersection grading rule comprises the following steps:
if the number of fast passing lanes connected at the intersection is more, the priority level of the intersection is higher;
if the ratio of the total number of all the motor vehicle lanes corresponding to the intersection to the number of the branches at the intersection is larger, the priority level of the intersection is higher;
selecting intersection data in the road data set step by step according to the sequence of the priority levels from high to low, performing shortest path planning calculation, and supplementing intersection data at lower levels for recalculation until the shortest path is planned if a path cannot be planned by means of the currently selected intersection data;
The step of performing shortest path planning calculation includes:
calculating by adopting a section-by-section diffusion mode, wherein the calculation process of each section is as follows:
determining a current starting point A and a current end point B, wherein the whole-process starting point of the first planning process is the current starting point A, the crossing which passes through the previous planning result in each subsequent planning process is selected as the current starting point A, and the whole-process end point is always used as the current end point B;
taking a plurality of intersections adjacent to the current starting point A as current candidate intermediate points, and marking as MiI represents the number of candidate intermediate points;
for each current candidate intermediate point MiCalculating (| AM)i|+|MiB |), wherein | AMiI represents the current starting point A to the candidate intermediate point MiOf Euclidean distance, | MiB | represents a candidate intermediate point MiThe Euclidean distance from the current terminal point B, and then the candidate intermediate point M corresponding to the minimum calculation result is selectediAs a passing intersection.
2. The method according to claim 1, wherein said path planning method based on city road network data,
the step of determining the path planning area according to the urban road network data comprises the following steps:
grid coordinate P1 (X) of start point in urban road network data1，Y1) And grid coordinates of end point P2 (X)2，Y2) Determining for a reference a path planning region, the grid coordinate data (X, Y) of points within the path planning region being such that:
Min{X1,X2}-c*|X1-X2|≤X≤Max{X1,X2}+c*|X1-X2|
Min{Y1,Y2}-c*|Y1-Y2|≤Y≤Max{Y1,Y2}+c*|Y1-Y2|
Wherein c is an expansion coefficient and has a value range of 0.35-0.5.
3. The method for planning a path based on urban road network data according to claim 1, further comprising: and performing passive pruning operation in the shortest path planning calculation process.
4. A path planning system based on urban road network data is characterized by comprising:
the route planning region determining module is used for determining a route planning region according to the urban road network data;
the road data pruning module is used for actively pruning the road data corresponding to the path planning area to obtain a road data set;
the intersection data screening module is used for dividing each intersection in the road data set into priority levels according to a preset intersection grading rule; the preset intersection grading rule comprises the following steps:
if the number of fast passing lanes connected at the intersection is more, the priority level of the intersection is higher;
if the ratio of the total number of all the motor vehicle lanes corresponding to the intersection to the number of the branches at the intersection is larger, the priority level of the intersection is higher;
the shortest path calculation module is used for selecting intersection data in the road data set step by step according to the sequence of the priority levels from high to low, carrying out shortest path planning calculation, and supplementing intersection data at lower levels for recalculation until the shortest path is planned if a path cannot be planned by means of the currently selected intersection data;
The shortest path calculation module for carrying out shortest path planning calculation comprises the following steps:
the shortest path planning calculation is carried out by adopting a section-by-section diffusion mode, and the calculation process of each section is as follows:
determining a current starting point A and a current end point B, wherein the whole-process starting point of the first planning process is the current starting point A, the crossing which passes through the previous planning result in each subsequent planning process is selected as the current starting point A, and the whole-process end point is always used as the current end point B;
taking a plurality of intersections adjacent to the current starting point A as current candidate intermediate points, and marking as MiI represents the number of candidate intermediate points;
for each current candidate intermediate point MiCalculating (| AM)i|+|MiB |), wherein | AMiI represents the current starting point A to the candidate intermediate point MiOf Euclidean distance, | MiB | represents a candidate intermediate point MiThe Euclidean distance to the current terminal point B, and then the candidate intermediate point M corresponding to the minimum calculation result is selectediAs a passing intersection.
5. The urban road network data-based path planning system according to claim 4, wherein said path planning region determining module determines grid coordinates P1 (X) of starting point in urban road network data1，Y1) And grid coordinates of end point P2 (X)2，Y2) Determining for a reference a path planning region, the grid coordinate data (X, Y) of points within the path planning region being such that:
Min{X1,X2}-c*|X1-X2|≤X≤Max{X1,X2}+c*|X1-X2|
Min{Y1,Y2}-c*|Y1-Y2|≤Y≤Max{Y1,Y2}+c*|Y1-Y2|
Wherein c is an expansion coefficient and has a value range of 0.35-0.5.
6. The system according to claim 4, wherein said shortest path calculating module is further configured to perform a passive pruning operation during the shortest path planning calculation.
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